SetAxisTouchProbe

Records the position of an axis at a trigger event.

Syntax

KsCommandStatus SetAxisTouchProbe(
     int Index,
     McProbeTrigger TriggerInput,
     BOOL WindowOnly,
     double firstPosition,
     double lastPosition,
     double* recordedPosition
);

Parameters

Index [in]: the index of an axis. Indexes are zero based. Aliases affect this parameter.

TriggerInput [in]: the trigger signal source. Trigger input may be specified by the Index. The signal source can be selected from the McProbeTrigger structure.

WindowOnly [in]: if set, only the value in the window will be used to trigger events. The window is the range between firstPosition and lastPosition.

firstPosition [in]: the start position from where (positive direction) trigger events are accepted (in user units). The value included in window. Currently, firstPosition must be less than lastPosition.

lastPosition [in]: the end position of the window (in user units). The value included in window.

recordedPosition [out]: the position where the trigger event occurred (in user units).

Return value

Returns the KsCommandStatus structure.

Remarks

To use this function, touch probe must be enabled using EnableTouchProbe.
One function instance should represent exactly one probing command.
In case of multiple instances on the same probe and axis, the elements of McProbeTrigger should be extended with TouchProbeId, the identification of a unique probing command, which can be linked to AbortCommand.
For further details about how touch probe works, see Concepts > Touch probe.

Example

VOID RecordPosition(INT Index, DOUBLE Velocity, McDirection Direction) {
   double PosRecord = 0;

   //Configure the probe
   McProbeTrigger ProbeTrigger = { 0 };
   ProbeTrigger.TouchProbeId = 0;
   ProbeTrigger.Software = FALSE;
   ProbeTrigger.IndexPulse = TRUE;
   ProbeTrigger.Edge = TRUE;
   ProbeTrigger.AxisSwitch = FALSE;
   ProbeTrigger.Index = 0;
   ProbeTrigger.Offset = 0;
   KsCommandStatus probe = SetAxisTouchProbe(Index, ProbeTrigger, FALSE, 0, 0, &PosRecord);

   //Start moving
   MoveAxisVelocity(Index, Velocity, 36000, 36000, 3600000, Direction, mcAborting);

   //Wait for the position to be recorded
   probe = WaitForCommand(30, TRUE, probe);

   RtPrintf("Recorded position: %d\n", (int)PosRecord);
   WaitForCommand(30, TRUE, HaltAxis(Index, 36000, 3600000, mcAborting));
}

Requirements

	RT	Win32
Minimum supported version	4.0	4.0
Header	ksmotion.h	ksmotion.h
Library	KsApi_Rtss.lib	KsApi.lib